cmake_minimum_required(VERSION 3.16)
project(sigma_sdk)

set(CMAKE_CXX_STANDARD 11)

include_directories(include)
aux_source_directory(src SRC)
# aux_source_directory(src/guidance_filter FILTER)

find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIRS})

add_subdirectory(include/geo lib)
link_directories(lib)

#获取图像数据
add_subdirectory(examples/01_recv_image)

#获取飞控消息
add_subdirectory(examples/02_recv_px4_message)

#offboard模式控制飞机飞行
add_subdirectory(examples/03_move_uav_on_offboard)

#通过zmq获取渲染中的障碍物、目标信息
add_subdirectory(examples/04_get_obstacle_info)

#通过zmq控制车辆运动
add_subdirectory(examples/05_move_car)

#使用sdk接口获取渲染中的障碍物、目标信息
add_executable(zmq_interface_demo zmq_interface_demo.cpp ${SRC})
target_link_libraries(zmq_interface_demo pthread zmq)

# dubins
add_executable(dubins dubins.cpp ${SRC}
                include/geo/geo.cpp
                include/geo/geo.h)
target_link_libraries(dubins pthread zmq)

# gps terminal guidance
add_executable(gps_tmg gps_tmg.cpp ${SRC} 
                                src/guidance_filter/BlosSim.cpp
                                src/guidance_filter/PosFilter.cpp)
target_link_libraries(gps_tmg pthread zmq ecl_geo)


